2016 05 26 Robo8 inspiration day_mirad_project
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An integrated Methodology to bring Intelligent Robotic Assistive devices to the user 26th May 2016
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Transcript of 2016 05 26 Robo8 inspiration day_mirad_project
An integrated Methodology to
bring Intelligent Robotic Assistive
devices to the user
26th May 2016
Project motivation
New emerging technology domain
Mechatronic devices that closely and
dynamically interact with humans
Opportunities for social and economic return
Few devices available on the market
Technological improvement still to be made
EU/Flanders risk running behind
Technological challengesSpecific application area of “exoskeletons”
human-worn robotic devices enhancing human capabilities
safetywearability
energy
autonomy
mechatronical
design
intelligent user
interaction
user
acceptance
clinical
evaluation
design
model
evaluate Need for Integrated
Methodology
demonstrate
MIRAD project 1/1/2013 – 31/12/2016
An integrated Methodology to bring Intelligent
Robotic Assistive Devices to the user
Bringing together experts in various fields
robotics and mechatronics, machine learning, virtual reality, human
movement and rehabilitation science, physical therapy, clinical psychology,
rehabilitation and orthopaedic technology
To perform strategic basic research leading to
• assistive robotic technology demonstrated in the lab
• economic valorization potential
• R&D follow up projects
Financially supported by
Project partners
Department of Mechanical Engineering
Faculty of Movement & Rehabilitation Sciences
Laboratory for Clinical Motion Analysis
Department of Mechanical Engineering
Computational Modelling Lab
Rehabilitation Sciences & Physiotherapy
Sirris, Collective Center of the
Belgian Technology Industry
Thomas More Kempen
National Multiple Sclerosis Center
Rehabilitation Hospital Revarte
Space Applications Services
Advisory committee
• Industrial organizations
WMME(Leo Wiels)
• Professional & user organizations
• Services
Ria Cuppers Kine Groepspraktijk
• Government - financing
Mission
Build generic scientific and technological
knowledge applicable to the wider area of
robotic devices that dynamically interact
with humans
Drive the creation of a new
technological sector of
robotic assistive technology
in Flanders
Research goals
Develop and validate an integrated methodology to
design and clinically evaluate intelligent robotic
assistive devices
• Develop the fundamental building blocks of
robotic assistive technology
• Demonstrate them in a bilateral intelligent
active lower-limb exoskeleton to assist persons
suffering from functional weakness
Valorisation goal
Creating a platform Robo8 where stakeholders from
technology industry, research institutes and social
sector can jointly develop robotic assistive devices in
Flanders
Promoting the creation of new companies that can act
as technology integrators
Setting up R&D follow-up projects
• in collaboration with existing companies
• starting from the project’s valorisation items
Valorisation items1. an adaptable compliant actuator with safe human
interaction using a lightweight motor controller
2. a high-level control that adapts to human motion,
recognizes intent and provides assistance-as-needed
3. a physiologically relevant simulation technology for
interaction between humans and devices
4. a methodology for functional evaluation of assistive
devices in a clinical context
5: a methodology for improving the psychological
acceptance of assistive devices
6. a real-time Virtual Reality training environment for
humans interacting with robotic devices
7. technology for robotic assistive devices
an adaptable compliant actuator
with safe human interaction using a
lightweight motor controller1
• Basic concept • Position and compliance of a
joint can be set independently
MACCEPA, a patented compliant actuator
POSITION
COMPLIANCE
• Key feature: built-in
compliance for safety
and user interaction
Powered exoskeleton joint
Powered exoskeleton joint
• Intrinsic compliance thanks to
physical spring
• Dedicated motor controller board
with sensor I/O and high speed
communication
• Dedicated electric motor
selection for high power-to-weight
ratio
• Weight-optimized 2nd generation
a high-level control that adapts to
human motion, recognizes intent and
provides assistance-as-needed2
Exoskeleton control
ACTUATOR-
CONTROLMOTOR
POSITION
LOW-LEVEL
OPTIMIZED
ROBOT
CONTROL
INTENTION
ESTIMATION
HIGH-LEVEL
ROBOT
MOTION &
ASSISTANCE
TORQUE
ACTIVITY
TYPE
HUMAN + EXOSKELETON FEEDBACK
Intent recognition and adaptivity
• Techniques in machine learning, pattern
recognition and signal analysis to
• estimate gait trajectory and gait timing
• detect gait events
• adapt mobility tasks
• Towards a more intelligent user interaction
SEAT-
OFF
EVENT
SIT-TO-STANCE MOTION
Assistance-as-needed control
COMPENSATE EXOSKELETON FORCES
ASSISTANCE-AS-NEEDED
a physiologically relevant
simulation technology for interaction
between humans and devices3
Simulation of human gait
• Example 1: capability gap due to muscle weakness
Used for optimised actuator sizing:
compensating 70% muscle weakness does not require 70%
of the total joint moment!
Simulation of human gait
• Example 2: balance control
Used for assistance-as-
needed control
Experimental Simulated
Opensim model
Towards simulation of human-robot
interaction
Human vs robot
displacements
Human vs environment
interaction forcesComplete
interaction model
Materialise Chair for Image Based, Patient-Specific Biomechanics
Agency for Innovation by Science and Technology (IWT), grant no. 131040
a methodology for functional
evaluation of assistive devices in a
clinical context4a methodology for improving the
psychological acceptance of
assistive devices5
Tools for functional evaluation and
psychological acceptance
• Evaluation procedures under development
• to assess the functionality of a lower limb exoskeleton in the
natural environment of the patient
• to be applied to clinical target populations with the use of the
exoskeleton prototypes developed in this project (MS patients,
CVA patients, CP children)
• Psychological acceptance test
• Pilot study using a specifically developed questionnaire
a real-time Virtual Reality training
environment for humans interacting
with robotic devices6
VR simulation framework
1. Body motion tracking
2. Exoskeleton integration in simulation
3. Dynamic observations on human-exoskeleton system
4. Display simulation for real-time visual feedback
Setup: + +
Focus on: limited footprint of devices, cross-platform,
open-source
VR simulation framework
Body motion tracking Mapping to OpenSim model
+ exoskeleton integration
Simulation features
• Collision detection
• Dynamic properties
• Game engine
technology for robotic assistive
devices7
MIRAD demonstrators under development
• Sit-to-stance exoskeleton
• Gait assistance exoskeleton
• Gait assistance exoskeleton for children
MIRAD demonstrators under development
• Sit-to-stance exoskeleton
• Gait assistance exoskeleton
• Gait assistance exoskeleton for children
Gait assistance exoskeleton
• Designed support for 50%
muscle weakness during
walking at 3km/h
• 25Nm peak actuator torque
• Ongoing engineering tests
• Healthy subject testing
September 2016
MIRAD demonstrators under development
• Sit-to-stance exoskeleton
• Gait assistance exoskeleton
• Gait assistance exoskeleton for children
Gait assistance exoskeleton for children
• Assisting 6-9year old CP
children during stance phase
and push-off
• 5Nm actuator peak torque
• Added weight < 500 g
• Pilot study in September 2016
Valorisation items1. an adaptable compliant actuator with safe human
interaction using a lightweight motor controller
2. a high-level control that adapts to human motion,
recognizes intent and provides assistance-as-needed
3. a physiologically relevant simulation technology for
interaction between humans and devices
4. a methodology for functional evaluation of assistive
devices in a clinical context
5: a methodology for improving the psychological
acceptance of assistive devices
6. a real-time Virtual Reality training environment for
humans interacting with robotic devices
7. technology for robotic assistive devices
What can the MIRAD project team offer you?
1. Challenge and enrich your product idea in the area of
robotic assistive technology
requirements vs state-of-the-art, first technical feasibility, …
2. Identify and prioritize key R&D challenges for the
development of the product
3. Network of potential partners in the value chain of
robotic assistive devices
Robotic Assistive Technology Made in
Flanders
26th May 2016
Robo8 Inspiration Day
